Development of image processing based intelligent control algorithms for quadrotors

Unmanned air vehicles are applications whose tenancy has increased in many fields recently with civil and military purposes. Quadrotor unmanned air vehicle having various models with high mobility and certain advantages looms large. A lot of research has been carried out particularly on the modelling and controlling of the quadrotor unmanned air vehicles so far. Intelligent system approaches have also been used in those studies. In the scope of this thesis, we aimed to develop video recording based intelligent control algorithms for the unmanned air vehicles. In this respect, initially the investigation and optimization studies of the type-2 fuzzy systems were carried out. Next, justification processes were held with the MATLAB simulation by developing a mathematical model of the quadrotor unmanned air vehicle followed by a position controlling with type-2 fuzzy systems. The simulation results during the position control with type-1 fuzzy system, PD and type-2 fuzzy system were relatively assessed and successful results were obtained. In the study, finally, the video recording based position control of the quadrotor vehicle was conducted. In this approach, necessary control algorithms for the vehicle to follow any subject by processing the video recordings received from a video camera fixed on the quadrotor vehicles are suggested. The simulation results obtained for the control approach conducted in three axes (forward-back, right-left, up-down) show that video recording based type-2 fuzzy control algorithm provides correct, reliable and successful results. Consequently, this study of thesis has four fundamental contributions involving modelling and simulation of a quadrotor unmanned air vehicle, the conduction and optimization of the type-2 fuzzy systems, the type-2 fuzzy logic based position controlling of the quadrotor unmanned air vehicle and the video recording based position control of the the quadrotor unmanned air vehicle. In the scope of this thesis, including the related scientific publications, the contributions are confirmed by many results of simulation. Key words: Quadrotor Unmanned Air Vehicle, Qua, Type-2 Fuzzy Logic System, Image Processing, Position Control, Object Tracking.